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<h1>rt2tr</h1><p><span class="helptopic">Convert rotation and translation to homogeneous transform</span></p><p>
<strong>TR</strong> = <span style="color:red">rt2tr</span>(<strong>R</strong>, <strong>t</strong>) is a homogeneous transformation matrix (N+1xN+1) formed
from an orthonormal rotation matrix <strong>R</strong> (NxN) and a translation vector <strong>t</strong>
(Nx1).  Works for <strong>R</strong> in SO(2) or SO(3):

</p>
<ul>
  <li>If R is 2x2 and t is 2x1, then TR is 3x3</li>
  <li>If R is 3x3 and t is 3x1, then TR is 4x4</li>
</ul>
<p>
For a sequence <strong>R</strong> (NxNxK) and <strong>t</strong> (NxK) results in a transform sequence (N+1xN+1xK).

</p>
<h2>Notes</h2>
<ul>
  <li>The validity of R is not checked</li>
</ul>
<h2>See also</h2>
<p>
<a href="t2r.html">t2r</a>, <a href="r2t.html">r2t</a>, <a href="tr2rt.html">tr2rt</a></p>
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